/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2025 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "Emm_V5.h"
#include "step_ctrl.h"
#include "step_algorithm.h"
/* USER CODE END Includes */

/* USER CODE BEGIN PTD */
float motor1_angle = 0;
float motor2_angle = 0;
uint8_t debug_buff[20] = 0;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  __HAL_UART_CLEAR_IDLEFLAG(&huart1);                       // 清除IDLE标志
  __HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);              // 使能串UART1 IDLE中断
  HAL_UART_Receive_DMA(&huart1, (uint8_t *)rxCmd, CMD_LEN); // 开启DMA接收模式

  step_struct_init(&motor1, 1, 0, 10, 0, 0, 1, 1);
  step_struct_init(&motor2, 2, 0, 10, 0, 0, 1, 1);
  step_struct_settemp(&motor1, 51200);
  step_struct_settemp(&motor2, 51200);
  step_struct_setangle(&motor1, 0); // 向左角度为正
  step_struct_setangle(&motor2, 0); // 向上dir为0
  set_distance(1);                  // 设置距离为1
  //multiple_step_syn_angle_ctrl(arr, 2);
  motor1_angle = step_read_real_position(&motor1);
  motor2_angle = step_read_real_position(&motor2);
  sprintf(debug_buff, "%.5f, %.5f\n", motor1_angle, motor2_angle);
  HAL_UART_Transmit(&huart2, debug_buff, 20, 100);
  HAL_Delay(1000);
  linear_interpolation(0,0,0.5,0,0.003); // 直线插补函数调用示例
  linear_interpolation(0.5,0,0.5,0.5,0.003); // 直线插补函数调用示例
  linear_interpolation(0.5,0.5,0,0.5,0.003); // 直线插补函数调用示例
  linear_interpolation(0,0.5,0,0,0.003); // 直线插补函数调用示例
  HAL_Delay(100);
  // step_distance_ctrl_x_alone(500, &motor1);
  // HAL_Delay(100);
  // step_distance_ctrl_y_alone(500, &motor2);
  // HAL_Delay(100);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    motor1_angle = step_read_real_position(&motor1);
    motor2_angle = step_read_real_position(&motor2);
    sprintf(debug_buff, "%.5f, %.5f\n", motor1_angle, motor2_angle);
    HAL_UART_Transmit(&huart2, debug_buff, 20, 100);
    HAL_Delay(500);
    HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
   */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
